Research And Development Of General Experimental Platform For Pneumatic Soft Robot

The soft robot has the characteristics of large deformation,high flexibility and unlimited degrees of freedom.It can be applied to many rigid robots that cannot complete tasks.Therefore,researching soft robots become the hot spot in the world today.It also faces some difficulties in material fabrication,modeling,control and so on at the same time because of the soft robot's characteristics.In view of this,based on the research of the prototype of the pneumatic soft robotic arm of the project research team members,this paper has developed a set of pneumatic soft robot experimental platform,which is used for scientific research workers to explore the experimental performance of pneumatic soft robots and kinematics..Based on the research status of the domestic and foreign pneumatic soft robot and the status of the experimental platform,I analyze the requirements of the pneumatic soft robot industry for the experimental platform.Based on the demand analysis and technical indicators,I design the experimental platform principle scheme and analysis the experimental platform performs generaly.The overall mechanical and electrical structure of the experimental platform was designed,including the design of the moving frame of the experimental platform,the design of the embedded control console of the industrial computer,the selection of electrical components and the layout design of the control cabinet.The control system of the experimental platform was designed,including the design of the PLC analog quantity control system and the design of the pneumatic circuit.It is to develop a set of pneumatic soft robot experimental platform PC software that using LABVIEW programming language,which can control the pneumatic soft robot in real-time flexible elongation and bending posture.The PC software has independent airway decentralized control the function of elongation and bending posture command control and one-touch control of typical motion posture.The design of serial communication between PC and Mitsubishi PLC and the application of serial port to CAN module can broaden control system conveniently for pneumatic soft robot researchers and more convenient,multi-angle study pneumatic soft robot.The experimental and model control research and its function realization demonstration are carried out by using the pneumatic soft robotic arm experimental platform commissioned by independent development,including the pneumatic flexible actuator experiment and its model control verification,the pneumatic soft robotic arm's single section experiment and its model control verification,experimental platform function demonstration and pneumatic soft robotic arm application scenarios.The pneumatic soft robot experimental platform designed and developed has a compact mechanical structure,a durable upper and lower machine control system,simple man-machine interface and convenient secondary development,which provides convenience for studying pneumatic soft robot.